Constant Field Values

Contents

• frc.robot.*

frc.robot.*

frc.robot.services.vision.VisionConstants

Modifier and Type	Constant Field	Value
public static final double	AMBIGUITY_CUTOFF	0.05
public static final boolean	BROADCAST_HEADING	false
public static final int	NO_AMBIGUITY	-100
public static final int	SERVER_BPORT	7002
public static final int	SERVER_RPORT	7001

frc.robot.subsystems.climb.ClimbConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_ID	19
public static final boolean	MOTOR_INVERTED	true
public static final double	REDUCTION	2.0

frc.robot.subsystems.drive.DriveConstants

Modifier and Type	Constant Field	Value
public static final double	ANGLE_KD	0.5
public static final double	ANGLE_KP	10.0
public static final double	DRIFT_GAIN	0.01
public static final double	DRIVE_ENCODER_POSITION_FACTOR	0.9308422677303091
public static final double	DRIVE_ENCODER_VELOCITY_FACTOR	0.015514037795505151
public static final boolean	DRIVE_INVERTED	false
public static final double	DRIVE_KA	0.0
public static final double	DRIVE_KD	0.0
public static final double	DRIVE_KP	0.015
public static final double	DRIVE_KS	0.0
public static final double	DRIVE_KV	0.1
public static final double	DRIVE_MOTOR_REDUCTION	6.75
public static final double	FF_RAMP_RATE	0.1
public static final int	IMU_CAN_ID	14
public static final double	JOYSTICK_DEADBAND	0.1
public static final boolean	TURN_ENCODER_INVERTED	false
public static final double	TURN_ENCODER_POSITION_FACTOR	6.283185307179586
public static final double	TURN_ENCODER_VELOCITY_FACTOR	6.283185307179586
public static final boolean	TURN_INVERTED	false
public static final double	TURN_KD	0.01
public static final double	TURN_KP	0.4
public static final double	TURN_MOTOR_REDUCTION	12.8
public static final double	TURN_PID_MAX_INPUT	3.141592653589793
public static final double	TURN_PID_MIN_INPUT	-3.141592653589793
public static final double	WHEEL_COF	1.1

frc.robot.subsystems.indexer.IndexerConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_ID	17
public static final boolean	MOTOR_INVERTED	false
public static final double	REDUCTION	17.0

frc.robot.subsystems.intake.arm.ArmConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_ID	15
public static final double	GLOBAL_ENCODER_OFFSET	0.21
public static final double	GLOBAL_ENCODER_POSITION_FACTOR	3.42719198573432
public static final double	GLOBAL_ENCODER_REDUCTION	112.0
public static final double	GLOBAL_ENCODER_VELOCITY_FACTOR	0.057119866428905326
public static final double	INTERNAL_ENCODER_POSITION_FACTOR	0.03059992844405643
public static final double	INTERNAL_ENCODER_VELOCITY_FACTOR	5.099988074009405E-4
public static final double	KA	0.0
public static final double	KD	0.0
public static final double	KG	0.0
public static final double	KP	0.1
public static final double	KS	0.1
public static final double	KV	3.483
public static final boolean	MOTOR_INVERTED	false
public static final double	OUTPUT_SHAFT_REDUCTION	1.8333333333333333
public static final double	TOTAL_REDUCTION	205.33333333333331

frc.robot.subsystems.intake.spinner.SpinnerConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_ID	16
public static final double	INTERNAL_ENCODER_POSITION_FACTOR	0.9832840856306082
public static final double	INTERNAL_ENCODER_VELOCITY_FACTOR	0.01638806809384347
public static final boolean	MOTOR_INVERTED	false
public static final double	REDUCTION	6.39

frc.robot.subsystems.shooter.ShooterConstants

Modifier and Type	Constant Field	Value
public static final int	CAN_ID	18
public static final double	FLYWHEEL_ENCODER_POSITION_FACTOR	6.283185307179586
public static final double	FLYWHEEL_ENCODER_VELOCITY_FACTOR	0.10471975511965977
public static final boolean	FLYWHEEL_INVERTED	false
public static final double	FLYWHEEL_KA	0.0
public static final double	FLYWHEEL_KD	1.0E-4
public static final double	FLYWHEEL_KI	0.0
public static final double	FLYWHEEL_KP	0.0085
public static final double	FLYWHEEL_KS	0.0
public static final double	FLYWHEEL_KV	0.0175
public static final double	REDUCTION	1.0
public static final int	SERVO_CHANNEL	0